KQuaternion.swingTwistDecomposition() method
Decompose the rotation on to 2 parts http://www.euclideanspace.com/maths/geometry/rotations/for/decomposition/index.htm twist = rotation around the direction vector swing = rotation around axis that is perpendicular to direction vector rotate = swing * twist
Signature:
swingTwistDecomposition(direction: KVector3d, twist: KQuaternion, swing: KQuaternion): void;
Links: swingTwistDecomposition(direction: KVector3d, twist: KQuaternion, swing: KQuaternion): void;
Parameters
Parameter | Type | Description |
|---|---|---|
direction | 输入方向向量。 The input direction vector. | |
twist | 输出绕方向向量旋转的四元数。 Update rotate quaternion around the direction vector. | |
swing | 输出绕垂直于方向向量的向量旋转的四元数。 Update rotate quaternion around axis that is perpendicular to direction vector. |
Returns:
void